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\hat{D}_{22}=\lim_{z\rightarrow\infty}\mW_{12}\left(\frac{z-1}{z+1}\right).  \end{equation}  Finally, once $\hat{D}_{22}$ is obtained, we can obtain an estimate closed-loop transfer function$\hat{\mC}(z)$ as  \begin{equation}  \label{eq:estC}  \mW\left(\frac{z-1}{z+1}\right)\begin{bmatrix}   I & 0 \\   0 & \hat{D}^{-1}_{22}  \end{bmatrix}, $\hat{\mC}(z)$ = \mW \left(\frac{z-1}{z+1}\right)  \end{equation}  and the transfer functions for plant and controller, $\mG(z)$, $\mK(z)$ using \eqref{eq:khg}.